96 lines
2.8 KiB
C++
96 lines
2.8 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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namespace motor {
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enum Direction {
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NORMAL = 0,
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REVERSED = 1,
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};
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enum DecayMode {
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FAST_DECAY = 0, //aka 'Coasting'
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SLOW_DECAY = 1, //aka 'Braking'
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};
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class MotorState {
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//--------------------------------------------------
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// Constants
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//--------------------------------------------------
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public:
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static constexpr float DEFAULT_SPEED_SCALE = 1.0f; // The standard motor speed scale
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static constexpr float DEFAULT_DEADZONE = 0.1f; // The standard motor deadzone
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static const DecayMode DEFAULT_DECAY_MODE = SLOW_DECAY; // The standard motor decay behaviour
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static constexpr float DEFAULT_FREQUENCY = 25000.0f; // The standard motor update rate
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static constexpr float MIN_FREQUENCY = 10.0f;
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static constexpr float MAX_FREQUENCY = 50000.0f;
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static constexpr float ZERO_PERCENT = 0.0f;
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static constexpr float ONEHUNDRED_PERCENT = 1.0f;
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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float motor_speed;
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float last_enabled_duty;
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bool enabled;
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// Customisation variables
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Direction motor_direction;
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float motor_scale;
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float motor_deadzone;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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MotorState();
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MotorState(Direction direction, float speed_scale, float deadzone);
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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float enable_with_return();
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float disable_with_return();
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bool is_enabled() const;
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float get_duty() const;
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float get_deadzoned_duty() const;
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float set_duty_with_return(float duty);
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float get_speed() const;
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float set_speed_with_return(float speed);
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//--------------------------------------------------
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float stop_with_return();
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float full_negative_with_return();
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float full_positive_with_return();
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float to_percent_with_return(float in, float in_min = ZERO_PERCENT, float in_max = ONEHUNDRED_PERCENT);
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float to_percent_with_return(float in, float in_min, float in_max, float speed_min, float speed_max);
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//--------------------------------------------------
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Direction get_direction() const;
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void set_direction(Direction direction);
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float get_speed_scale() const;
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void set_speed_scale(float speed_scale);
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float get_deadzone() const;
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float set_deadzone_with_return(float deadzone);
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//--------------------------------------------------
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static int32_t duty_to_level(float duty, uint32_t resolution);
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static float map_float(float in, float in_min, float in_max, float out_min, float out_max);
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};
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} |